refactoring to add nav mesh

yasmin.pro

@@ -66,6 +66,7 @@ SOURCES += \
 	main.cpp \
     lib/gpc/gpc.cpp \
 	../Indoor/lib/tinyxml/tinyxml2.cpp \
+	../Indoor/lib/Recast/*.cpp\
     ui/menu/MainMenu.cpp \
     ui/MainWindow.cpp \
     Controller.cpp \
@@ -80,7 +81,10 @@ SOURCES += \
     ui/map/3D/MapView3D.cpp \
     ui/map/2D/MapView2D.cpp \
     tools/calibration/WiFiCalibrationScanDialog.cpp \
-    ui/debug/PlotGPS.cpp
+    ui/debug/PlotGPS.cpp \
+    nav/NavController.cpp \
+    nav/mesh/NavControllerMesh.cpp \
+    nav/grid/NavControllerGrid.cpp
 
 RESOURCES += qml.qrc
 
@@ -151,21 +155,16 @@ HEADERS += \
     ui/debug/plot/PlottWidget.h \
     ui/debug/PlotTurns.h \
     ui/debug/PlotWiFiScan.h \
-    nav/State.h \
-    nav/Filter.h \
-    nav/Node.h \
     sensors/linux/WiFiSensorLinuxC.h \
     sensors/offline/SensorFactoryOffline.h \
     sensors/dummy/SensorFactoryDummy.h \
     sensors/android/SensorFactoryAndroid.h \
     Settings.h \
-    nav/RegionalResampling.h \
     sensors/offline/AllInOneSensor.h \
     sensors/ActivitySensor.h \
     ui/LoggerUI.h \
     ui/debug/InfoWidget.h \
     ui/UIHelper.h \
-    nav/NodeResampling.h \
     ui/map/3D/MapView3D.h \
     ui/map/2D/MapView2D.h \
     ui/map/2D/Floor2D.h \
@@ -193,7 +192,18 @@ HEADERS += \
     sensors/dummy/CompassSensorDummy.h \
     sensors/dummy/GPSSensorDummy.h \
     ui/debug/PlotGPS.h \
-    sensors/SensorWriter.h
+    sensors/SensorWriter.h \
+    nav/mesh/State.h \
+    nav/mesh/NavControllerMesh.h \
+    nav/mesh/FilterMesh.h \
+    nav/grid/Filter.h \
+    nav/grid/NavControllerGrid.h \
+    nav/grid/Node.h \
+    nav/grid/NodeResampling.h \
+    nav/grid/RegionalResampling.h \
+    nav/Observation.h \
+    nav/grid/State.h \
+    nav/CurEst.h
 
 DISTFILES += \
     android-sources/src/MyActivity.java \